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<div class="title">linear_solver_eigen.h</div>  </div>
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<a href="linear__solver__eigen_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_LINEAR_SOLVER_EIGEN_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_LINEAR_SOLVER_EIGEN_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Sparse&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/SparseCholesky&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;../core/linear_solver.h&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;../core/batch_stats.h&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;../stuff/timeutil.h&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;../core/eigen_types.h&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> MatrixType&gt;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html">   51</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_linear_solver_eigen.html">LinearSolverEigen</a>: <span class="keyword">public</span> <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">   54</a></span>&#160;    <span class="keyword">typedef</span> Eigen::SparseMatrix&lt;double, Eigen::ColMajor&gt; <a class="code" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">SparseMatrix</a>;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a602c24e05d2f46022aa1827fdbc45638">   55</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Triplet&lt;double&gt; <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a602c24e05d2f46022aa1827fdbc45638">Triplet</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#acd9dd4e15dfbbad2720f1b83519333e8">   56</a></span>&#160;    <span class="keyword">typedef</span> Eigen::PermutationMatrix&lt;Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index&gt; <a class="code" href="classg2o_1_1_linear_solver_eigen.html#acd9dd4e15dfbbad2720f1b83519333e8">PermutationMatrix</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">   60</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">CholeskyDecomposition</a> : <span class="keyword">public</span> Eigen::SimplicialLDLT&lt;SparseMatrix, Eigen::Upper&gt;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">public</span>:</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a4c82911542773cdcd66b470edb21831e">   63</a></span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a4c82911542773cdcd66b470edb21831e">CholeskyDecomposition</a>() : <a class="code" href="namespace_eigen.html">Eigen</a>::SimplicialLDLT&lt;SparseMatrix, <a class="code" href="namespace_eigen.html">Eigen</a>::Upper&gt;() {}</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">using</span> Eigen::SimplicialLDLT&lt; SparseMatrix, Eigen::Upper&gt;::analyzePattern_preordered;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a3aa432f9aec0b7230c733df9a4d80558">   66</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a3aa432f9aec0b7230c733df9a4d80558">analyzePatternWithPermutation</a>(SparseMatrix&amp; a, <span class="keyword">const</span> PermutationMatrix&amp; permutation)</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          m_Pinv = permutation;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          m_P = permutation.inverse();</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keywordtype">int</span> size = a.cols();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          SparseMatrix ap(size, size);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          ap.selfadjointView&lt;Eigen::Upper&gt;() = a.selfadjointView&lt;UpLo&gt;().twistedBy(m_P);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          analyzePattern_preordered(ap, <span class="keyword">true</span>);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    };</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#ac9e7b64d4a559e6972a8b3798f490bd8">   78</a></span>&#160;    <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ac9e7b64d4a559e6972a8b3798f490bd8">LinearSolverEigen</a>() :</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;(),</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a>(true), <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">_blockOrdering</a>(false), <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a>(false)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#afd2eeb1d54a420e110b9b8cdf74b1cff">   84</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#afd2eeb1d54a420e110b9b8cdf74b1cff">~LinearSolverEigen</a>()</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139">   88</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139">init</a>()</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#ae4ac566af324a238a31145c1e50b52e1">   94</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ae4ac566af324a238a31145c1e50b52e1">solve</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A, <span class="keywordtype">double</span>* x, <span class="keywordtype">double</span>* b)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a>)</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>.resize(A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>(), A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>());</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a8ab862dc1eebb6ec5815f3970e9073f3">fillSparseMatrix</a>(A, !<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a>) <span class="comment">// compute the symbolic composition once</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a12307526d419d194620e982d8c683767">computeSymbolicDecomposition</a>(A);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">double</span> t=<a class="code" href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">get_monotonic_time</a>();</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a>.factorize(<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a>.info() != Eigen::Success) { <span class="comment">// the matrix is not positive definite</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a>) {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          std::cerr &lt;&lt; <span class="stringliteral">&quot;Cholesky failure, writing debug.txt (Hessian loadable by Octave)&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a21725f29b3f1bbc4e4ba77ee3f960ddc">writeOctave</a>(<span class="stringliteral">&quot;debug.txt&quot;</span>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        }</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="comment">// Solving the system</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      VectorXD::MapType xx(x, <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>.cols());</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      VectorXD::ConstMapType bb(b, <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>.cols());</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      xx = <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a>.solve(bb);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a>* globalStats = <a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">G2OBatchStatistics::globalStats</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordflow">if</span> (globalStats) {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        globalStats-&gt;<a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">timeNumericDecomposition</a> = <a class="code" href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">get_monotonic_time</a>() - t;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        globalStats-&gt;<a class="code" href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">choleskyNNZ</a> = <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a>.matrixL().nestedExpression().nonZeros() + <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>.cols(); <span class="comment">// the elements of D</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">  127</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">blockOrdering</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">_blockOrdering</a>;}</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a33a924364fc517e69c5ade5aeacd8ee3">  128</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a33a924364fc517e69c5ade5aeacd8ee3">setBlockOrdering</a>(<span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">blockOrdering</a>) { <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">_blockOrdering</a> = <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">blockOrdering</a>;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">  131</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">writeDebug</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a>;}</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a5ceaab3ba944d327b21f7329c7e19c8c">  132</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a5ceaab3ba944d327b21f7329c7e19c8c">setWriteDebug</a>(<span class="keywordtype">bool</span> b) { <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a> = b;}</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">  135</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a>;</div><div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">  136</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">_blockOrdering</a>;</div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">  137</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a>;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">  138</a></span>&#160;    SparseMatrix <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a>;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">  139</a></span>&#160;    <a class="code" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">CholeskyDecomposition</a> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a>;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_eigen.html#a12307526d419d194620e982d8c683767">  147</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a12307526d419d194620e982d8c683767">computeSymbolicDecomposition</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A)</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">double</span> t=<a class="code" href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">get_monotonic_time</a>();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordflow">if</span> (! _blockOrdering) {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        _cholesky.analyzePattern(_sparseMatrix);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="comment">// block ordering with the Eigen Interface</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="comment">// This is really ugly currently, as it calls internal functions from Eigen</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; 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   <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_eigen.html#a8ab862dc1eebb6ec5815f3970e9073f3">fillSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A, <span class="keywordtype">bool</span> onlyValues)</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordflow">if</span> (onlyValues) {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a54b93e3ed8ccb6c30e694d417f7c336f">fillCCS</a>(_sparseMatrix.valuePtr(), <span class="keyword">true</span>);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; 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         <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap</a>&amp; column = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">blockCols</a>()[c];</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it = column.begin(); it != column.end(); ++it) {</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            <span class="keywordtype">int</span> rowBaseOfBlock = A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">rowBaseOfBlock</a>(it-&gt;first);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            <span class="keyword">const</span> MatrixType&amp; m = *(it-&gt;second);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc = 0; cc &lt; m.cols(); ++cc) {</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;              <span class="keywordtype">int</span> aux_c = colBaseOfBlock + cc;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rr = 0; rr &lt; m.rows(); ++rr) {</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                <span class="keywordtype">int</span> aux_r = rowBaseOfBlock + rr;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                <span class="keywordflow">if</span> (aux_r &gt; aux_c)</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                triplets.push_back(<a class="code" href="classg2o_1_1_linear_solver_eigen.html#a602c24e05d2f46022aa1827fdbc45638">Triplet</a>(aux_r, aux_c, m(rr, cc)));</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;              }</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            }</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          }</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        _sparseMatrix.setFromTriplets(triplets.begin(), triplets.end());</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    }</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;};</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a31f4a361dba1f3eb8dba2ca2aa326905"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">g2o::G2OBatchStatistics::timeNumericDecomposition</a></div><div class="ttdeci">double timeNumericDecomposition</div><div class="ttdoc">numeric decomposition (0 if not done) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:57</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html"><div class="ttname"><a href="classg2o_1_1_linear_solver.html">g2o::LinearSolver</a></div><div class="ttdoc">basic solver for Ax = b </div><div class="ttdef"><b>Definition:</b> linear_solver.h:41</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a52c02e9b24e4f6ade190e6adb29b05b4"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">g2o::LinearSolverEigen::_init</a></div><div class="ttdeci">bool _init</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:135</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a12307526d419d194620e982d8c683767"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a12307526d419d194620e982d8c683767">g2o::LinearSolverEigen::computeSymbolicDecomposition</a></div><div class="ttdeci">void computeSymbolicDecomposition(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A)</div><div class="ttdoc">compute the symbolic decompostion of the matrix only once. </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:147</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a33a924364fc517e69c5ade5aeacd8ee3"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a33a924364fc517e69c5ade5aeacd8ee3">g2o::LinearSolverEigen::setBlockOrdering</a></div><div class="ttdeci">void setBlockOrdering(bool blockOrdering)</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:128</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a39682995a9cf32dc79848281c6d4d9b9"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">g2o::LinearSolverEigen::_sparseMatrix</a></div><div class="ttdeci">SparseMatrix _sparseMatrix</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:138</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_ab7205de4c6820b3ecd7ed7f39bbdf573"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">g2o::LinearSolverEigen::_cholesky</a></div><div class="ttdeci">CholeskyDecomposition _cholesky</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:139</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab818f8923b845d08a38e8de1145fbb65"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">g2o::SparseBlockMatrix::blockCols</a></div><div class="ttdeci">const std::vector&lt; IntBlockMap &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:178</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a062a4808d98b01686817b4565fd149cf"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">g2o::LinearSolverEigen::blockOrdering</a></div><div class="ttdeci">bool blockOrdering() const</div><div class="ttdoc">do the AMD ordering on the blocks or on the scalar matrix </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:127</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_afd2eeb1d54a420e110b9b8cdf74b1cff"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#afd2eeb1d54a420e110b9b8cdf74b1cff">g2o::LinearSolverEigen::~LinearSolverEigen</a></div><div class="ttdeci">virtual ~LinearSolverEigen()</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:84</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html">g2o::G2OBatchStatistics</a></div><div class="ttdoc">statistics about the optimization </div><div class="ttdef"><b>Definition:</b> batch_stats.h:39</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a06f9c667d8b48b8f0023e27011818b64"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">g2o::G2OBatchStatistics::globalStats</a></div><div class="ttdeci">static G2OBatchStatistics * globalStats()</div><div class="ttdef"><b>Definition:</b> batch_stats.h:72</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a502857f0a792ad37055964705a983590"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">g2o::SparseBlockMatrix::colBaseOfBlock</a></div><div class="ttdeci">int colBaseOfBlock(int c) const</div><div class="ttdoc">where does the col at block-col r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:111</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_aeb7e2400bed3a249b5f29ce7cc00cd33"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">g2o::LinearSolverEigen::SparseMatrix</a></div><div class="ttdeci">Eigen::SparseMatrix&lt; double, Eigen::ColMajor &gt; SparseMatrix</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:54</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a041970f37a5a6e63778f0c40e7c6e948"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">g2o::LinearSolverEigen::_blockOrdering</a></div><div class="ttdeci">bool _blockOrdering</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:136</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_ae4ac566af324a238a31145c1e50b52e1"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#ae4ac566af324a238a31145c1e50b52e1">g2o::LinearSolverEigen::solve</a></div><div class="ttdeci">bool solve(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A, double *x, double *b)</div><div class="ttdoc">Assumes that A is the same matrix for several calls. </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:94</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a21725f29b3f1bbc4e4ba77ee3f960ddc"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a21725f29b3f1bbc4e4ba77ee3f960ddc">g2o::SparseBlockMatrix::writeOctave</a></div><div class="ttdeci">bool writeOctave(const char *filename, bool upperTriangle=true) const</div><div class="ttdoc">write the content of this matrix to a stream loadable by Octave </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:548</div></div>
<div class="ttc" id="namespaceg2o_html_aa64237935c7d8411b4369234a5f661ea"><div class="ttname"><a href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">g2o::get_monotonic_time</a></div><div class="ttdeci">double get_monotonic_time()</div><div class="ttdoc">return a monotonic increasing time which basically does not need to have a reference point...</div><div class="ttdef"><b>Definition:</b> timeutil.cpp:113</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a456a521ccb1e4c69940475a92a1f5d29"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a456a521ccb1e4c69940475a92a1f5d29">g2o::G2OBatchStatistics::timeSymbolicDecomposition</a></div><div class="ttdeci">double timeSymbolicDecomposition</div><div class="ttdoc">symbolic decomposition (0 if not done) </div><div class="ttdef"><b>Definition:</b> batch_stats.h:56</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition_html"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">g2o::LinearSolverEigen::CholeskyDecomposition</a></div><div class="ttdoc">Sub-classing Eigen&amp;#39;s SimplicialLDLT to perform ordering with a given ordering. </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:60</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaad7b1558369203795419345ee014852"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">g2o::SparseBlockMatrix::rows</a></div><div class="ttdeci">int rows() const</div><div class="ttdoc">rows of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:71</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a5ceaab3ba944d327b21f7329c7e19c8c"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a5ceaab3ba944d327b21f7329c7e19c8c">g2o::LinearSolverEigen::setWriteDebug</a></div><div class="ttdeci">virtual void setWriteDebug(bool b)</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:132</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_ac9e7b64d4a559e6972a8b3798f490bd8"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#ac9e7b64d4a559e6972a8b3798f490bd8">g2o::LinearSolverEigen::LinearSolverEigen</a></div><div class="ttdeci">LinearSolverEigen()</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:78</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ac9dfcc991976a6c21dcbed961f06282d"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">g2o::SparseBlockMatrix::cols</a></div><div class="ttdeci">int cols() const</div><div class="ttdoc">columns of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:69</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_ad9bccc1b4bcd3cc5e107ac09ac93cf4b"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">g2o::LinearSolverEigen::writeDebug</a></div><div class="ttdeci">virtual bool writeDebug() const</div><div class="ttdoc">write a debug dump of the system matrix if it is not SPD in solve </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:131</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_af718590d044a1b44e4079136c29efcd1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">g2o::SparseBlockMatrix::rowBaseOfBlock</a></div><div class="ttdeci">int rowBaseOfBlock(int r) const</div><div class="ttdoc">where does the row at block-row r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:108</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a54b93e3ed8ccb6c30e694d417f7c336f"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a54b93e3ed8ccb6c30e694d417f7c336f">g2o::SparseBlockMatrix::fillCCS</a></div><div class="ttdeci">int fillCCS(int *Cp, int *Ci, double *Cx, bool upperTriangle=false) const</div><div class="ttdoc">fill the CCS arrays of a matrix, arrays have to be allocated beforehand </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:490</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a06dc97167a923119bdf99818033104d8"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a06dc97167a923119bdf99818033104d8">g2o::SparseBlockMatrix::nonZeros</a></div><div class="ttdeci">size_t nonZeros() const</div><div class="ttdoc">number of non-zero elements </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:362</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a8ab862dc1eebb6ec5815f3970e9073f3"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a8ab862dc1eebb6ec5815f3970e9073f3">g2o::LinearSolverEigen::fillSparseMatrix</a></div><div class="ttdeci">void fillSparseMatrix(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A, bool onlyValues)</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:203</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaa6ca1ae454ed70f62992b6401645f4e"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">g2o::SparseBlockMatrix::IntBlockMap</a></div><div class="ttdeci">std::map&lt; int, SparseMatrixBlock * &gt; IntBlockMap</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:73</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_acd9dd4e15dfbbad2720f1b83519333e8"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#acd9dd4e15dfbbad2720f1b83519333e8">g2o::LinearSolverEigen::PermutationMatrix</a></div><div class="ttdeci">Eigen::PermutationMatrix&lt; Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index &gt; PermutationMatrix</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:56</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a602c24e05d2f46022aa1827fdbc45638"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a602c24e05d2f46022aa1827fdbc45638">g2o::LinearSolverEigen::Triplet</a></div><div class="ttdeci">Eigen::Triplet&lt; double &gt; Triplet</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:55</div></div>
<div class="ttc" id="structg2o_1_1_g2_o_batch_statistics_html_a5996c5ba000bdfcbcf5c0375a3c62643"><div class="ttname"><a href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">g2o::G2OBatchStatistics::choleskyNNZ</a></div><div class="ttdeci">size_t choleskyNNZ</div><div class="ttdoc">number of non-zeros in the cholesky factor </div><div class="ttdef"><b>Definition:</b> batch_stats.h:70</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_afe3ef87aecd7a76eab27e91131dbe0c1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">g2o::SparseBlockMatrix::colsOfBlock</a></div><div class="ttdeci">int colsOfBlock(int c) const</div><div class="ttdoc">how many cols does the block at block-col c has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:105</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a8fca4bb987dcbeb94a366b1532dee139"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139">g2o::LinearSolverEigen::init</a></div><div class="ttdeci">virtual bool init()</div><div class="ttdoc">init for operating on matrices with a different non-zero pattern like before </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:88</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html_a2d331575853451fc94ca6f6420f0bdcb"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">g2o::LinearSolverEigen::_writeDebug</a></div><div class="ttdeci">bool _writeDebug</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:137</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_html"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen.html">g2o::LinearSolverEigen</a></div><div class="ttdoc">linear solver which uses the sparse Cholesky solver from Eigen </div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:51</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition_html_a3aa432f9aec0b7230c733df9a4d80558"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a3aa432f9aec0b7230c733df9a4d80558">g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation</a></div><div class="ttdeci">void analyzePatternWithPermutation(SparseMatrix &amp;a, const PermutationMatrix &amp;permutation)</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:66</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition_html_a4c82911542773cdcd66b470edb21831e"><div class="ttname"><a href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#a4c82911542773cdcd66b470edb21831e">g2o::LinearSolverEigen::CholeskyDecomposition::CholeskyDecomposition</a></div><div class="ttdeci">CholeskyDecomposition()</div><div class="ttdef"><b>Definition:</b> linear_solver_eigen.h:63</div></div>
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